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<div class="title">depth_sense_grabber.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
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<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_IO_DEPTH_SENSE_GRABBER_H</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_IO_DEPTH_SENSE_GRABBER_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/io/grabber.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">// Forward declaration of a class that contains actual grabber implementation</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="keyword">namespace </span>io { <span class="keyword">namespace </span>depth_sense { <span class="keyword">struct </span>DepthSenseGrabberImpl; } }</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html">   57</a></span>&#160;  <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1_depth_sense_grabber.html">DepthSenseGrabber</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_grabber.html">Grabber</a></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        void (sig_cb_depth_sense_point_cloud)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;          (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr&amp;);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        void (sig_cb_depth_sense_point_cloud_rgba)</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;          (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZRGBA&gt;::ConstPtr&amp;);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">enum</span> Mode</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;        DepthSense_QVGA_30Hz = 0,</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      };</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">enum</span> TemporalFilteringType</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      {</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        DepthSense_None = 0,</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        DepthSense_Median = 1,</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        DepthSense_Average = 2,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      };</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a96a883fe7ba4855b7e0c40e76c5acd85">   95</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#a96a883fe7ba4855b7e0c40e76c5acd85">DepthSenseGrabber</a> (<span class="keyword">const</span> std::string&amp; device_id = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      ~<a class="code" href="classpcl_1_1_depth_sense_grabber.html">DepthSenseGrabber</a> () throw ();</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a737e56e5f0214fa677b2d2a3a52beee3">  101</a></span>&#160;      start ();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a2cd91a84141374a79c2fd2644cf1db90">  104</a></span>&#160;      stop ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      virtual <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a1dc59978332175bd914d75e388169d71">  107</a></span>&#160;      isRunning () const;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      virtual std::<span class="keywordtype">string</span></div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#aeb9727c052eeca9a31cdfa7164e0aa87">  110</a></span>&#160;      getName ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keywordflow">return</span> (std::string (<span class="stringliteral">&quot;DepthSenseGrabber&quot;</span>));</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      }</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a9ab0e6f9e8d9e2a006c2d745788ac08f">  116</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#a9ab0e6f9e8d9e2a006c2d745788ac08f">getFramesPerSecond</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a72ec273faad93d317776f0bc97719067">  128</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#a72ec273faad93d317776f0bc97719067">setConfidenceThreshold</a> (<span class="keywordtype">int</span> threshold);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a3cc19501240327d324128d5e7ecf43c6">  135</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#a3cc19501240327d324128d5e7ecf43c6">enableTemporalFiltering</a> (TemporalFilteringType type, <span class="keywordtype">size_t</span> window_size = 1);</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#a4a95436194c3ead17864e378b2d97d8c">  139</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#a4a95436194c3ead17864e378b2d97d8c">disableTemporalFiltering</a> ();</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      std::string</div>
<div class="line"><a name="l00143"></a><span class="lineno"><a class="line" href="classpcl_1_1_depth_sense_grabber.html#aae19278ef10fbc819d8592827150e5e0">  143</a></span>&#160;      <a class="code" href="classpcl_1_1_depth_sense_grabber.html#aae19278ef10fbc819d8592827150e5e0">getDeviceSerialNumber</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">pcl::io::depth_sense::DepthSenseGrabberImpl</a>* p_;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;      <span class="keyword">friend</span> <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">pcl::io::depth_sense::DepthSenseGrabberImpl</a>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  };</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;}</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_IO_DEPTH_SENSE_GRABBER_H */</span><span class="preprocessor"></span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html">pcl::DepthSenseGrabber</a></div><div class="ttdef"><b>Definition:</b> depth_sense_grabber.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_a3cc19501240327d324128d5e7ecf43c6"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#a3cc19501240327d324128d5e7ecf43c6">pcl::DepthSenseGrabber::enableTemporalFiltering</a></div><div class="ttdeci">void enableTemporalFiltering(TemporalFilteringType type, size_t window_size=1)</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_a4a95436194c3ead17864e378b2d97d8c"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#a4a95436194c3ead17864e378b2d97d8c">pcl::DepthSenseGrabber::disableTemporalFiltering</a></div><div class="ttdeci">void disableTemporalFiltering()</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_a72ec273faad93d317776f0bc97719067"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#a72ec273faad93d317776f0bc97719067">pcl::DepthSenseGrabber::setConfidenceThreshold</a></div><div class="ttdeci">void setConfidenceThreshold(int threshold)</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_a96a883fe7ba4855b7e0c40e76c5acd85"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#a96a883fe7ba4855b7e0c40e76c5acd85">pcl::DepthSenseGrabber::DepthSenseGrabber</a></div><div class="ttdeci">DepthSenseGrabber(const std::string &amp;device_id=&quot;&quot;)</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_a9ab0e6f9e8d9e2a006c2d745788ac08f"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#a9ab0e6f9e8d9e2a006c2d745788ac08f">pcl::DepthSenseGrabber::getFramesPerSecond</a></div><div class="ttdeci">virtual float getFramesPerSecond() const</div><div class="ttdoc">returns fps. 0 if trigger based.</div></div>
<div class="ttc" id="aclasspcl_1_1_depth_sense_grabber_html_aae19278ef10fbc819d8592827150e5e0"><div class="ttname"><a href="classpcl_1_1_depth_sense_grabber.html#aae19278ef10fbc819d8592827150e5e0">pcl::DepthSenseGrabber::getDeviceSerialNumber</a></div><div class="ttdeci">std::string getDeviceSerialNumber() const</div></div>
<div class="ttc" id="aclasspcl_1_1_grabber_html"><div class="ttname"><a href="classpcl_1_1_grabber.html">pcl::Grabber</a></div><div class="ttdoc">Grabber interface for PCL 1.x device drivers</div><div class="ttdef"><b>Definition:</b> grabber.h:59</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl_html"><div class="ttname"><a href="structpcl_1_1io_1_1depth__sense_1_1_depth_sense_grabber_impl.html">pcl::io::depth_sense::DepthSenseGrabberImpl</a></div><div class="ttdef"><b>Definition:</b> depth_sense_grabber_impl.h:59</div></div>
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